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<pre><span class="sourceLineNo">001</span>package edu.wpi.first.wpilibj.templates;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span><a name="line.3"></a>
<span class="sourceLineNo">004</span><a name="line.4"></a>
<span class="sourceLineNo">005</span>import edu.wpi.first.wpilibj.Timer;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import edu.wpi.first.wpilibj.camera.AxisCamera;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import edu.wpi.first.wpilibj.camera.AxisCameraException;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import edu.wpi.first.wpilibj.image.BinaryImage;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import edu.wpi.first.wpilibj.image.ColorImage;<a name="line.9"></a>
<span class="sourceLineNo">010</span>import edu.wpi.first.wpilibj.image.CriteriaCollection;<a name="line.10"></a>
<span class="sourceLineNo">011</span>import edu.wpi.first.wpilibj.image.NIVisionException;<a name="line.11"></a>
<span class="sourceLineNo">012</span>import edu.wpi.first.wpilibj.image.ParticleAnalysisReport;<a name="line.12"></a>
<span class="sourceLineNo">013</span>import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;<a name="line.13"></a>
<span class="sourceLineNo">014</span><a name="line.14"></a>
<span class="sourceLineNo">015</span>public class Camera {<a name="line.15"></a>
<span class="sourceLineNo">016</span><a name="line.16"></a>
<span class="sourceLineNo">017</span>    /*<a name="line.17"></a>
<span class="sourceLineNo">018</span>     * The following method gets camera data, and then finds the center co-ordinate and size of all large, white rectangles on the image<a name="line.18"></a>
<span class="sourceLineNo">019</span>     */<a name="line.19"></a>
<span class="sourceLineNo">020</span>    public static void imageGrab(AxisCamera cam, CriteriaCollection cc) <a name="line.20"></a>
<span class="sourceLineNo">021</span>    {<a name="line.21"></a>
<span class="sourceLineNo">022</span>        ColorImage image;<a name="line.22"></a>
<span class="sourceLineNo">023</span>        try <a name="line.23"></a>
<span class="sourceLineNo">024</span>        {<a name="line.24"></a>
<span class="sourceLineNo">025</span>            image = cam.getImage();<a name="line.25"></a>
<span class="sourceLineNo">026</span>            BinaryImage thresholdImage = image.thresholdRGB(0, 45, 0, 45, 0, 45);   // keep only white objects<a name="line.26"></a>
<span class="sourceLineNo">027</span>            BinaryImage bigObjectsImage = thresholdImage.removeSmallObjects(false, 2);  // remove small artifacts<a name="line.27"></a>
<span class="sourceLineNo">028</span>            BinaryImage convexHullImage = bigObjectsImage.convexHull(false); // fill in occluded rectangles<a name="line.28"></a>
<span class="sourceLineNo">029</span>            BinaryImage filteredImage = convexHullImage.particleFilter(cc); // find filled in rectangles<a name="line.29"></a>
<span class="sourceLineNo">030</span><a name="line.30"></a>
<span class="sourceLineNo">031</span>            ParticleAnalysisReport[] reports = filteredImage.getOrderedParticleAnalysisReports();  // get list of results<a name="line.31"></a>
<span class="sourceLineNo">032</span>            <a name="line.32"></a>
<span class="sourceLineNo">033</span>            for (int i = 0; i &lt; reports.length; i++) <a name="line.33"></a>
<span class="sourceLineNo">034</span>            {                                // print results<a name="line.34"></a>
<span class="sourceLineNo">035</span>                ParticleAnalysisReport r = reports[i];<a name="line.35"></a>
<span class="sourceLineNo">036</span>                System.out.println("Particle: " + i + ":  Center of mass x: " + r.center_mass_x);<a name="line.36"></a>
<span class="sourceLineNo">037</span>                SmartDashboard.putDouble ("Particle: ",  i);<a name="line.37"></a>
<span class="sourceLineNo">038</span>                SmartDashboard.putDouble("Center of mass x: " , r.center_mass_x);<a name="line.38"></a>
<span class="sourceLineNo">039</span>            }<a name="line.39"></a>
<span class="sourceLineNo">040</span>            <a name="line.40"></a>
<span class="sourceLineNo">041</span>            System.out.println(filteredImage.getNumberParticles() + "  " + Timer.getFPGATimestamp());<a name="line.41"></a>
<span class="sourceLineNo">042</span>            SmartDashboard.putDouble("NumberPaticles", filteredImage.getNumberParticles());<a name="line.42"></a>
<span class="sourceLineNo">043</span>            SmartDashboard.putDouble("Timer", Timer.getFPGATimestamp());<a name="line.43"></a>
<span class="sourceLineNo">044</span><a name="line.44"></a>
<span class="sourceLineNo">045</span>            //memory garage collection<a name="line.45"></a>
<span class="sourceLineNo">046</span>            filteredImage.free();<a name="line.46"></a>
<span class="sourceLineNo">047</span>            convexHullImage.free();<a name="line.47"></a>
<span class="sourceLineNo">048</span>            bigObjectsImage.free();<a name="line.48"></a>
<span class="sourceLineNo">049</span>            thresholdImage.free();<a name="line.49"></a>
<span class="sourceLineNo">050</span>            image.free();<a name="line.50"></a>
<span class="sourceLineNo">051</span>        }<a name="line.51"></a>
<span class="sourceLineNo">052</span>        catch (AxisCameraException ex) <a name="line.52"></a>
<span class="sourceLineNo">053</span>        {<a name="line.53"></a>
<span class="sourceLineNo">054</span>            ex.printStackTrace();<a name="line.54"></a>
<span class="sourceLineNo">055</span>        }<a name="line.55"></a>
<span class="sourceLineNo">056</span>        catch (NIVisionException ex)<a name="line.56"></a>
<span class="sourceLineNo">057</span>        {<a name="line.57"></a>
<span class="sourceLineNo">058</span>            ex.printStackTrace();<a name="line.58"></a>
<span class="sourceLineNo">059</span>        }<a name="line.59"></a>
<span class="sourceLineNo">060</span>    }<a name="line.60"></a>
<span class="sourceLineNo">061</span>}<a name="line.61"></a>




























































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